在对KLD - 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
通过分析简单行星排的运动学，推导出了正、负号行星排基本构件相互转换的原理和方法。
This paper analyses the kinematics of simple planet gear set, speculate the transform mechanism and method of positive and minus planet gear set.
根据辐射机器人的运动特性给出了运动学方程的正、反解，并对其作了动力学分析，且在关节空间对其进行了轨迹规划。
According to the moving character of this Robot, kinematic equations is obtained and solved inversely. And also gives the dynamic analysis. In Robot joint space, the trajectory is planned.
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